version c ok, debut fonctin moteur

src/DisplayImage.c

@@ -0,0 +1,159 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+#include <cv.h> 
+#include <highgui.h>
+//#include <cxcore.h>
+
+//#include <SFML/Window.hpp>
+
+int main(int argc, char* argv[])
+{
+	int height,width,step,channels;  //parameters of the image we are working on
+	int posX, posY; //Position objet
+	CvMoments *moments = (CvMoments*)malloc(sizeof(CvMoments)); //Variable moyenne position
+	
+    // Open capture device. 0 is /dev/video0, 1 is /dev/video1, etc.
+    CvCapture* capture = cvCaptureFromCAM( 0 );
+    
+    if( !capture ){
+            printf("ERROR: capture is NULL \n" );
+            return -1;
+    }
+    
+    // grab an image from the capture
+    IplImage* frame = cvQueryFrame( capture );
+    
+    // Create a window in which the captured images will be presented
+    cvNamedWindow( "Camera", CV_WINDOW_AUTOSIZE );
+    cvNamedWindow( "HSV", CV_WINDOW_AUTOSIZE );
+    cvNamedWindow( "Binaire", CV_WINDOW_AUTOSIZE );
+
+    //sf::Window window;
+    //window.create(sf::VideoMode(800, 600), "My window",sf::Style::Default);
+    
+    // get the image data
+      height    = frame->height;
+      width     = frame->width;
+      step      = frame->widthStep;
+      
+     // capture size - 
+    CvSize size = cvSize(width,height);
+    
+    // Initialize different images that are going to be used in the program
+    IplImage*  hsv_frame    = cvCreateImage(size, IPL_DEPTH_8U, 3); // image converted to HSV plane
+    IplImage*  threshold   = cvCreateImage(size, IPL_DEPTH_8U, 1);
+    
+    //Controle couleur
+	cvNamedWindow("Control", CV_WINDOW_AUTOSIZE); //create a window called "Control"
+
+	//Setup Kirby
+	 int iLowH = 139;
+	 int iHighH = 179;
+
+	 int iLowS = 48; 
+	 int iHighS = 255;
+
+	 int iLowV = 101;
+	 int iHighV = 255;
+	CvScalar valinf={iLowH,iLowS,iLowV};
+	CvScalar valsup={iHighH,iHighS,iHighV};
+
+
+	 //Create trackbars in "Control" window
+	 cvCreateTrackbar("LowH", "Control", &iLowH, 179,NULL); //Hue (0 - 179)
+	 cvCreateTrackbar("HighH", "Control", &iHighH, 179,NULL);
+
+	 cvCreateTrackbar("LowS", "Control", &iLowS, 255,NULL); //Saturation (0 - 255)
+	 cvCreateTrackbar("HighS", "Control", &iHighS, 255,NULL);
+
+	 cvCreateTrackbar("LowV", "Control", &iLowV, 255,NULL); //Value (0 - 255)
+	 cvCreateTrackbar("HighV", "Control", &iHighV, 255,NULL);
+
+	  
+    while( 1 )
+    {   
+
+        // Get one frame
+        frame = cvQueryFrame( capture );
+        
+        if( !frame ){
+                printf("ERROR: frame is null...\n" );
+                break;
+        }
+ 
+        // Covert color space to HSV as it is much easier to filter colors in the HSV color-space.
+        cvCvtColor(frame, hsv_frame, CV_BGR2HSV);
+	
+	//Blur
+	cvSmooth( hsv_frame, hsv_frame, CV_GAUSSIAN, 15, 0,0,0); //suppression des parasites par flou gaussien
+
+	//Binarisation
+        cvInRangeS(hsv_frame, valinf,valsup, threshold);
+      
+        //cvSmooth( threshold, threshold, CV_GAUSSIAN, 9, 9 ); //Legère suppression des parasites
+        
+        // Calculate the moments to estimate the position of the ball 
+        
+        cvMoments(threshold, moments, 1); 
+        // The actual moment values 
+        double moment10 = cvGetSpatialMoment(moments, 1, 0); 
+        double moment01 = cvGetSpatialMoment(moments, 0, 1); 
+        double area = cvGetCentralMoment(moments, 0, 0);
+        
+        posX= moment10/area;
+        posY= moment01/area;
+        
+	//Affichage zone suivie objet
+        cvCircle(frame, cvPoint(width/2,height/2), height/6, CV_RGB(0, 255, 0), 4, 8, 0 );
+
+	if(posX<5&&posY<5){ //Si aucun objet spotted, pointeur rouge au centre
+		posX=width/2;
+		posY=height/2;
+		cvLine(frame, cvPoint(posX-20,posY), cvPoint(posX+20,posY), CV_RGB(255, 0, 0), 4, 8, 0 );
+	cvLine(frame, cvPoint(posX,posY-20), cvPoint(posX,posY+20), CV_RGB(255, 0, 0), 4, 8, 0 );
+	}
+	else{ //Objet spotted
+	//Affichage position de l'objet
+	cvLine(frame, cvPoint(posX-20,posY), cvPoint(posX+20,posY), CV_RGB(0, 0, 255), 4, 8, 0 );
+	cvLine(frame, cvPoint(posX,posY-20), cvPoint(posX,posY+20), CV_RGB(0, 0, 255), 4, 8, 0 );
+        }
+         cvShowImage( "Camera", frame ); // Original stream with detected ball overlay
+         cvShowImage( "HSV", hsv_frame); // Original stream in the HSV color space
+         cvShowImage( "Binaire", threshold); // The stream after color filtering
+     
+	controle_moteur(posX-width/2, posY-height/2, height/6); //Envoie commande moteur
+
+        if( (cvWaitKey(10) ) >= 0 ) break; //Arret capture
+    }
+    
+	cvWaitKey(0); //Fin programme
+	
+     // Release the capture device housekeeping
+     cvReleaseCapture( &capture );
+     
+     cvReleaseImage(&threshold);
+     
+     return 0;
+   }
+
+int* controle_moteur(int vecX, int vecY, int rayon){
+
+	FILE* fichier = fopen("commande.txt",w);
+
+	double norme = sqrt(vecX*vecX + vecY*vecY);
+	
+	if (norme > rayon){
+		if(vecX/norme >= 0.5){
+			on ajoute 1 sur XXX
+		}
+		else{
+			on ajoute 1 sur YYY
+		}
+
+	}
+
+
+	fclose(fichier);
+
+}